Add NDT-3D map class

MOLAorg · Sep 8, 2024 · 913b3bb · 913b3bb
1 parent b83cd5a
commit 913b3bb
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Showing 9 changed files with 1,511 additions and 6 deletions.
diff --git a/docs/source/Doxyfile b/docs/source/Doxyfile
@@ -704,7 +704,7 @@ LAYOUT_FILE            = doxygen-layout.xml
 # LATEX_BIB_STYLE. To use this feature you need bibtex and perl available in the
 # search path. See also \cite for info how to create references.
 
-CITE_BIB_FILES         =
+CITE_BIB_FILES         = refs.bib
 
 #---------------------------------------------------------------------------
 # Configuration options related to warning and progress messages

diff --git a/docs/source/refs.bib b/docs/source/refs.bib
@@ -102,4 +102,15 @@ @article{bhandari2024minimal
   pages={02783649241235325},
   year={2024},
   publisher={SAGE Publications Sage UK: London, England}
+}
+
+@article{magnusson2007scan,
+  title={Scan registration for autonomous mining vehicles using 3D-NDT},
+  author={Magnusson, Martin and Lilienthal, Achim and Duckett, Tom},
+  journal={Journal of Field Robotics},
+  volume={24},
+  number={10},
+  pages={803--827},
+  year={2007},
+  publisher={Wiley Online Library}
 }
diff --git a/mola_metric_maps/CMakeLists.txt b/mola_metric_maps/CMakeLists.txt
@@ -21,26 +21,42 @@ project(mola_metric_maps LANGUAGES CXX)
 find_package(mola_common REQUIRED)
 
 # find CMake dependencies:
-find_package(mrpt-maps)
+find_package(mrpt-maps REQUIRED)
+find_package(mp2p_icp_map REQUIRED)
 
 # 3rdparty deps:
 add_subdirectory(3rdparty)
 
 # -----------------------
 # define lib:
-file(GLOB_RECURSE LIB_SRCS src/*.cpp src/*.h)
-file(GLOB_RECURSE LIB_PUBLIC_HDRS include/*.h)
+set(LIB_SRCS
+  src/SparseVoxelPointCloud.cpp
+  src/register.cpp
+  src/NDT.cpp
+  src/HashedVoxelPointCloud.cpp
+  src/OccGrid.cpp
+  src/SparseTreesPointCloud.cpp
+)
+set(LIB_PUBLIC_HDRS
+  include/mola_metric_maps/OccGrid.h
+  include/mola_metric_maps/HashedVoxelPointCloud.h
+  include/mola_metric_maps/SparseTreesPointCloud.h
+  include/mola_metric_maps/SparseVoxelPointCloud.h
+  include/mola_metric_maps/index3d_t.h
+  include/mola_metric_maps/NDT.h
+  include/mola_metric_maps/FixedDenseGrid3D.h
+)
 
 mola_add_library(
   TARGET ${PROJECT_NAME}
   SOURCES ${LIB_SRCS} ${LIB_PUBLIC_HDRS}
   PUBLIC_LINK_LIBRARIES
     mrpt::maps
     tsl::robin_map
-#  PRIVATE_LINK_LIBRARIES
-#    mrpt::maps
+    mola::mp2p_icp_map
   CMAKE_DEPENDENCIES
     mrpt-maps
+    mp2p_icp_map
     robin_map
 )